version: 66.11
glider: 124
mission: 14
dive: 60
start: 11 15 112 3 54 6
data:
$ID,124
$MISSION,14
$DIVE,60
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$D_ABORT,980
$D_NO_BLEED,500
$D_BOOST,20
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,340
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51525
$NAV_MODE,2
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,2.53e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-303608.78
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3900
$C_PITCH,2250
$PITCH_DBAND,1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,135
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,183
$ROLL_MAX,3883
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,244
$VBD_MAX,3700
$C_VBD,2509
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,0
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,69.417763
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-21.889965
$PRESSURE_SLOPE,0.0001157801
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043984288
$SEABIRD_T_H,0.00063808635
$SEABIRD_T_I,2.5525775e-05
$SEABIRD_T_J,3.0944329e-06
$SEABIRD_C_G,-9.6676407
$SEABIRD_C_H,1.1061285
$SEABIRD_C_I,-0.0013205735
$SEABIRD_C_J,0.00018109973
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,151112,034706,1808.090,12426.850,31,1.0,31,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.29
$_SM_ANGLEo,-57.7
$GPS2,151112,035337,1808.057,12426.979,15,1.2,15,-2.1
$SPEED_LIMITS,0.161,0.278
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,271.5,233433,-14.2,-9.314,-18.51
$D_GRID,5103
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.69,-194.6,0.0,0.0,0,26,0.00,0.00,-7.00,0.000,2,0.000,0.000,40,2511,357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,29,-0.69,-194.6,3.2,0.0,1,250,8.15,2.20,-204.38,0.000,4,0.242,0.076,2097,3878,3303,0,0,0,0,0,0,26.28,26.60,26.94
$GC,478,-0.66,-194.6,50.9,-17.1,71,483,0.00,2.10,0.00,0.000,6,0.000,0.041,2097,2487,3304,0,0,0,0,0,0,28.83,26.75,28.83
$GC,801,-0.64,-194.6,108.6,-15.6,87,806,0.00,2.17,0.00,0.000,4,0.000,0.058,2096,3888,3303,0,0,0,0,0,0,28.83,26.81,28.83
$GC,913,-0.65,-194.6,121.2,-11.9,92,918,0.00,2.08,0.00,0.000,6,0.000,0.040,2096,2498,3307,0,0,0,0,0,0,28.83,26.87,28.83
$GC,1225,-0.67,-194.6,154.3,-10.0,108,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2496,3307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1527,-0.69,-194.6,182.3,-8.7,123,1532,0.00,2.15,0.00,0.000,4,0.000,0.058,2095,3890,3308,0,0,0,0,0,0,28.83,26.92,28.83
$GC,1625,-0.73,-194.6,189.7,-8.7,127,1631,0.00,2.08,0.00,0.000,6,0.000,0.041,2095,2496,3308,0,0,0,0,0,0,28.83,26.97,28.83
$GC,1930,-0.76,-194.6,219.8,-9.5,143,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2497,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2231,-0.80,-194.6,247.1,-8.9,158,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2496,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2531,-0.84,-194.6,272.7,-8.4,173,2537,0.00,2.12,0.00,0.000,4,0.000,0.060,2095,3885,3308,0,0,0,0,0,0,28.83,26.98,28.83
$GC,2569,-0.88,-194.6,274.8,-8.4,174,2576,0.00,2.08,0.00,0.000,6,0.000,0.041,2095,2494,3308,0,0,0,0,0,0,28.83,27.03,28.83
$GC,2875,-0.93,-194.6,300.9,-8.3,190,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2494,3307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3176,-0.98,-194.6,325.9,-8.5,205,3177,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2494,3306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3477,-1.03,-194.6,347.8,-6.5,220,3482,0.00,2.15,0.00,0.000,4,0.000,0.060,2094,3882,3304,0,0,0,0,0,0,28.83,27.01,28.83
$GC,3503,-1.08,-194.6,349.2,-6.2,221,3508,0.00,2.08,0.00,0.000,6,0.000,0.043,2095,2495,3304,0,0,0,0,0,0,28.83,27.05,28.83
$GC,3821,-1.13,-194.6,368.0,-6.1,237,3827,0.00,2.17,0.00,0.000,4,0.000,0.047,2095,1078,3303,0,0,0,0,0,0,28.83,27.04,28.83
$GC,3845,-1.19,-194.6,369.6,-6.3,238,3851,0.00,2.20,0.00,0.000,6,0.000,0.046,2095,2504,3303,0,0,0,0,0,0,28.83,27.03,28.83
$GC,4169,-1.24,-194.6,391.1,-6.7,254,4174,0.00,2.12,0.00,0.000,4,0.000,0.061,2095,3884,3301,0,0,0,0,0,0,28.83,27.01,28.83
$GC,4226,-1.30,-194.6,394.2,-6.9,256,4232,0.00,2.05,0.00,0.000,6,0.000,0.043,2095,2496,3301,0,0,0,0,0,0,28.83,27.06,28.83
$GC,4532,-1.36,-194.6,416.9,-7.0,272,4537,0.00,2.15,0.00,0.000,4,0.000,0.049,2094,1085,3298,0,0,0,0,0,0,28.83,27.04,28.83
$GC,4564,-1.42,-194.6,418.6,-7.0,273,4570,0.00,2.17,0.00,0.000,6,0.000,0.046,2095,2498,3299,0,0,0,0,0,0,28.83,27.04,28.83
$GC,4878,-1.48,-194.6,439.5,-6.2,289,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2498,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5179,-1.54,-194.6,456.9,-5.8,304,5180,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2498,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5479,-1.60,-194.6,475.2,-6.3,319,5485,0.00,2.20,-0.08,0.000,4,0.000,0.062,2095,1084,3318,0,0,0,0,0,0,28.83,27.05,26.94
$GC,5507,-1.66,-194.6,476.9,-6.5,320,5513,0.00,2.20,0.00,0.000,6,0.000,0.047,2095,2504,3319,0,0,0,0,0,0,28.83,27.05,28.83
$GC,5826,-1.73,-194.6,497.5,-6.5,336,5828,0.60,0.00,0.00,0.000,6,0.054,0.000,1857,2504,3318,0,0,0,0,0,0,27.08,28.83,28.83
$GC,6127,-1.63,-194.6,553.9,-19.3,351,6132,0.00,2.15,0.00,0.000,4,0.000,0.066,1853,3889,3317,0,0,0,0,0,0,28.83,27.02,28.83
$GC,6231,-1.53,-194.6,575.2,-20.1,356,6237,0.00,2.10,0.00,0.000,6,0.000,0.047,1853,2500,3317,0,0,0,0,0,0,28.83,27.07,28.83
$GC,6556,-1.43,-194.6,637.7,-19.2,369,6561,0.00,2.17,0.00,0.000,4,0.000,0.067,1853,3881,3315,0,0,0,0,0,0,28.83,27.02,28.83
$GC,6782,-1.34,-194.6,681.1,-20.3,376,6787,0.00,2.10,0.00,0.000,6,0.000,0.048,1853,2497,3314,0,0,0,0,0,0,28.83,27.07,28.83
$GC,7101,-1.25,-194.6,742.4,-18.0,387,7106,0.00,2.17,0.00,0.000,4,0.000,0.067,1853,3878,3313,0,0,0,0,0,0,28.83,27.02,28.83
$GC,7164,-1.16,-194.6,753.9,-17.8,389,7169,0.00,2.10,0.00,0.000,6,0.000,0.048,1853,2495,3312,0,0,0,0,0,0,28.83,27.06,28.83
$GC,7497,-1.07,-194.6,810.7,-16.9,400,7502,0.00,2.17,0.00,0.000,4,0.000,0.067,1852,3874,3312,0,0,0,0,0,0,28.83,27.02,28.83
$GC,7639,-0.98,-194.6,832.3,-17.5,404,7644,0.00,2.10,0.00,0.000,6,0.000,0.048,1852,2494,3310,0,0,0,0,0,0,28.83,27.06,28.83
$GC,7952,-0.89,-194.6,888.4,-16.6,415,7957,0.00,2.20,0.00,0.000,4,0.000,0.069,1852,3887,3307,0,0,0,0,0,0,28.83,27.01,28.83
$GC,8105,-0.80,-194.6,916.3,-18.2,420,8111,0.73,2.12,0.00,0.000,6,0.145,0.050,2079,2489,3306,0,0,0,0,0,0,26.93,27.05,28.83
$GC,8439,-0.87,-194.6,940.6,-6.8,431,8444,0.00,2.20,0.00,0.000,4,0.000,0.054,2081,1082,3305,0,0,0,0,0,0,28.83,27.04,28.83
$GC,8476,-0.95,-194.6,943.0,-6.8,432,8481,0.00,2.22,0.00,0.000,6,0.000,0.052,2080,2495,3306,0,0,0,0,0,0,28.83,27.04,28.83
$STATE,8592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8592,begin apogee
$GC,8598,-0.22,0.0,951.7,-7.0,436,8758,0.00,0.00,152.88,1.300,6,0.000,0.000,2080,1692,2509,0,0,0,0,0,0,28.83,28.83,24.30
$STATE,8760,end apogee,CONTROL_FINISHED_OK
$STATE,8760,begin climb
$GC,8761,0.69,194.6,961.6,0.0,441,8931,1.00,2.35,160.20,1.258,4,0.102,0.062,2403,300,1714,0,0,0,0,0,0,25.29,24.96,24.13
$GC,8969,0.72,342.9,956.4,4.4,448,9099,0.00,2.33,122.43,1.238,6,0.000,0.047,2404,1707,1111,0,0,0,0,0,0,28.83,25.50,24.01
$GC,9412,0.79,424.3,927.3,6.6,463,9486,0.00,2.35,66.85,1.232,4,0.000,0.061,2403,3106,779,0,0,0,0,0,0,28.83,25.15,24.32
$GC,9543,0.84,497.7,918.8,6.9,467,9612,0.00,2.30,61.45,1.213,6,0.000,0.052,2403,1710,480,0,0,0,0,0,0,28.83,25.72,24.23
$GC,9925,0.95,583.9,893.5,6.4,480,9979,0.00,2.38,47.97,1.216,4,0.000,0.057,2403,3114,244,0,0,0,0,0,0,28.83,25.34,24.51
$GC,10000,1.05,672.0,889.8,6.4,482,10006,0.00,2.35,0.00,0.000,6,0.000,0.054,2403,1698,243,0,0,0,0,0,0,28.83,25.60,28.83
$GC,10319,1.24,672.0,849.2,13.5,493,10324,0.00,2.25,0.00,0.000,4,0.000,0.066,2403,280,239,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10551,1.40,672.0,817.4,15.3,500,10557,0.00,2.25,0.00,0.000,6,0.000,0.049,2403,1717,238,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10865,1.56,672.0,768.0,14.7,511,10871,0.00,2.20,0.00,0.000,4,0.000,0.060,2402,3112,236,0,0,0,0,0,0,28.83,26.67,28.83
$GC,11093,1.71,672.0,737.7,14.2,518,11099,0.62,2.25,0.00,0.000,6,0.074,0.054,2634,1690,236,0,0,0,0,0,0,26.73,26.74,28.83
$GC,11413,1.57,672.0,643.7,34.9,529,11418,0.00,2.20,0.00,0.000,4,0.000,0.062,2645,282,235,0,0,0,0,0,0,28.83,26.79,28.83
$GC,11485,1.44,672.0,620.6,35.8,531,11490,0.00,2.25,0.00,0.000,6,0.000,0.051,2645,1707,235,0,0,0,0,0,0,28.83,26.81,28.83
$GC,11798,1.28,672.0,498.9,39.9,546,11803,0.00,2.28,0.00,0.000,4,0.000,0.060,2656,283,235,0,0,0,0,0,0,28.83,26.84,28.83
$GC,11931,1.15,672.0,452.7,36.9,552,11936,0.00,2.22,0.00,0.000,6,0.000,0.050,2656,1695,234,0,0,0,0,0,0,28.83,26.88,28.83
$GC,12243,0.98,672.0,321.1,41.2,568,12249,0.00,2.25,0.00,0.000,4,0.000,0.059,2665,282,234,0,0,0,0,0,0,28.83,26.88,28.83
$GC,12396,0.84,672.0,266.2,37.8,575,12402,0.73,2.22,0.00,0.000,6,0.133,0.049,2432,1709,234,0,0,0,0,0,0,26.80,26.91,28.83
$GC,12709,1.00,672.0,226.5,13.1,591,12715,0.00,2.15,0.00,0.000,4,0.000,0.057,2431,3101,234,0,0,0,0,0,0,28.83,26.91,28.83
$GC,12762,1.16,672.0,221.0,13.3,593,12767,0.00,2.20,0.00,0.000,6,0.000,0.050,2431,1687,234,0,0,0,0,0,0,28.83,26.93,28.83
$GC,13075,1.33,672.0,177.7,13.8,609,13080,0.00,2.25,0.00,0.000,4,0.000,0.056,2431,3110,235,0,0,0,0,0,0,28.83,26.93,28.83
$GC,13282,1.48,672.0,150.0,13.1,619,13288,0.00,2.20,0.00,0.000,6,0.000,0.049,2431,1690,235,0,0,0,0,0,0,28.83,26.95,28.83
$GC,13600,1.64,672.0,112.3,11.3,635,13605,0.00,2.22,0.00,0.000,4,0.000,0.051,2431,3111,236,0,0,0,0,0,0,28.83,26.96,28.83
$GC,13672,1.81,672.0,104.7,12.1,638,13678,0.00,2.17,0.00,0.000,6,0.000,0.047,2431,1693,236,0,0,0,0,0,0,28.83,26.96,28.83
$GC,13985,1.98,672.0,68.9,12.5,654,13991,0.68,2.20,0.00,0.000,4,0.071,0.048,2690,3117,237,0,0,0,0,0,0,26.96,26.97,28.83
$GC,14180,1.89,672.0,30.8,23.4,667,14185,0.00,2.20,0.00,0.000,6,0.000,0.045,2691,1692,238,0,0,0,0,0,0,28.83,26.98,28.83
$STATE,14306,end climb,SURFACE_DEPTH_REACHED
$STATE,14306,begin surface coast
$FINISH,2.6,1.021719
$STATE,14323,end surface coast,CONTROL_FINISHED_OK
$STATE,14323,begin surface
$SM_CCo,14400,0.00,0.000,0,0,238,556.83
$SM_GC,3.45,6.80,1.33,0.00,0.040,0.053,0.000,41,2502,238,-10.08,-0.74,556.83,0,0,0,0,0,0,26.97,26.98,28.83
$IRIDIUM_FIX,1800.97,12424.79,141112,232357
$TT8_MAMPS,0.028462,0.028462
$HUMID,64.09
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.90
$XPDR_PINGS,10
$SC_FREEKB,3997248
$24V_AH,24.0,11.837
$10V_AH,9.9,9.338
$FG_AHR_24Vo,69.418
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.300,120.950,611.775,0.000,0.000,0.000,0.000,249.025,2.500,0.000,16.034,2406.751,9235.956,734.851,2232.376,186.430,0.000,2074.696,0.000,1882.069,0.000,0.535,0.000
$DEVICE_MAMPS,241.740,75.735,1299.735,0.000,0.000,0.000,0.000,125.460,420.000,0.000,29.960,14.710,2.190,13.960,38.680,47.660,0.000,16.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14339.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.767,0.000,0.000,0.000
$MEM,329068
$DATA_FILE_SIZE,26699,692
$CAP_FILE_SIZE,173641,0
$CFSIZE,260034560,244568064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.356, 71.7,1
$GPS,151112,075523,1808.694,12426.575,40,1.4,40,-2.1